An LMI-based robust tracker for uncertain linear systems with multiple time-varying delays using optimal composite nonlinear feedback technique

This paper considers the composite non-linear feedback method for robust tracking control of uncertain linear systems with time-varying delays and disturbances. The asymptotic tracking conditions are dependent to the time-derivative bounds of the timevarying delays and are provided in the form of linear matrix inequalities. A new nonlinear function is introduced in the control law to improve the tracking performance of the system and is optimally tuned using modified random search algorithm. Simulation results are presented to illustrate the effectiveness of the proposed technique.